look at any web publishing software. A typical web page these days contains most if not all of what you are after. You also tend not to need any specialized software at the user end for viewing the procedure/instructions.
You could try turbodemo or robodemo that is what I tend to use. I think adobe re branded robodemo after they took over macromedia. Both packages convert to flash and a number of other web browser based file formats.
I have been using EASE Inc software for over a year. It is great. You don't have to learn proprietary software. It utilizes Microsoft office applications but controls the revisions and give you lots of other features. It is great and easy to use. Their website is
